[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[35] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[35] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Dec-2005
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| 36 | *
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[7486] | 37 | * Changes:
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[35] | 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[277] | 41 | #include <stdlib.h>
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[1044] | 42 | #include <iomanip>
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[1218] | 43 | #include <sstream>
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[277] | 44 |
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[8127] | 45 | #include <QComboBox>
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| 46 | #include <QDialog>
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[35] | 47 | #include <QFile>
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| 48 | #include <QTextStream>
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[5524] | 49 | #include <QMutex>
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[35] | 50 | #include <QtNetwork>
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[8127] | 51 | #include <QPushButton>
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| 52 | #include <QTableWidget>
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[356] | 53 | #include <QTime>
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[35] | 54 |
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| 55 | #include "bncgetthread.h"
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[192] | 56 | #include "bnctabledlg.h"
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[5070] | 57 | #include "bnccore.h"
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[352] | 58 | #include "bncutils.h"
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[423] | 59 | #include "bnczerodecoder.h"
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[1621] | 60 | #include "bncnetqueryv0.h"
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[1387] | 61 | #include "bncnetqueryv1.h"
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| 62 | #include "bncnetqueryv2.h"
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[1410] | 63 | #include "bncnetqueryrtp.h"
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[1721] | 64 | #include "bncnetqueryudp.h"
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[1779] | 65 | #include "bncnetqueryudp0.h"
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[1753] | 66 | #include "bncnetquerys.h"
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[1535] | 67 | #include "bncsettings.h"
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[1558] | 68 | #include "latencychecker.h"
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[3168] | 69 | #include "upload/bncrtnetdecoder.h"
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[243] | 70 | #include "RTCM/RTCM2Decoder.h"
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[297] | 71 | #include "RTCM3/RTCM3Decoder.h"
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[1318] | 72 | #include "serial/qextserialport.h"
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[35] | 73 |
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| 74 | using namespace std;
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| 75 |
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[1143] | 76 | // Constructor 1
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[35] | 77 | ////////////////////////////////////////////////////////////////////////////
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[2519] | 78 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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[1138] | 79 |
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[8082] | 80 | _rawFile = rawFile;
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| 81 | _format = rawFile->format();
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| 82 | _staID = rawFile->staID();
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| 83 | _rawOutput = false;
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[2390] | 84 | _ntripVersion = "N";
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| 85 |
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[1555] | 86 | initialize();
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[1138] | 87 | }
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| 88 |
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[1143] | 89 | // Constructor 2
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| 90 | ////////////////////////////////////////////////////////////////////////////
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[8082] | 91 | bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
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| 92 | const QByteArray& latitude, const QByteArray& longitude,
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| 93 | const QByteArray& nmea, const QByteArray& ntripVersion) {
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| 94 | _rawFile = 0;
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| 95 | _mountPoint = mountPoint;
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[8127] | 96 | _staID = mountPoint.path().mid(1).toLatin1();
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[8082] | 97 | _format = format;
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| 98 | _latitude = latitude;
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| 99 | _longitude = longitude;
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| 100 | _nmea = nmea;
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[1353] | 101 | _ntripVersion = ntripVersion;
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[1139] | 102 |
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[2386] | 103 | bncSettings settings;
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| 104 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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| 105 | _rawOutput = true;
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[3734] | 106 | } else {
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| 107 | _rawOutput = false;
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[2386] | 108 | }
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| 109 |
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[1139] | 110 | initialize();
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[3523] | 111 | initDecoder();
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[1139] | 112 | }
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| 113 |
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[1555] | 114 | // Initialization (common part of the constructor)
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[1143] | 115 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 116 | void bncGetThread::initialize() {
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| 117 |
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[3528] | 118 | bncSettings settings;
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| 119 |
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[1555] | 120 | setTerminationEnabled(true);
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| 121 |
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[7486] | 122 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[8082] | 123 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[1555] | 124 |
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[1525] | 125 | _isToBeDeleted = false;
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[8082] | 126 | _query = 0;
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| 127 | _nextSleep = 0;
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| 128 | _miscMount = settings.value("miscMount").toString();
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| 129 | _decoder = 0;
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[255] | 130 |
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[7180] | 131 | // NMEA Port
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| 132 | // -----------
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| 133 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
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| 134 | int nmeaPort = 0;
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| 135 | while (iSta.hasNext()) {
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| 136 | QStringList hlp = iSta.next().split(",");
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[8082] | 137 | if (hlp.size() < 10) {
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| 138 | continue;
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| 139 | }
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[8127] | 140 | QByteArray mp = hlp[0].toLatin1();
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[7180] | 141 | if (_staID == mp) {
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| 142 | nmeaPort = hlp[9].toInt();
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| 143 | }
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| 144 | }
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| 145 | if (nmeaPort != 0) {
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| 146 | _nmeaServer = new QTcpServer;
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[8082] | 147 | if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
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[7180] | 148 | emit newMessage("bncCaster: Cannot listen on port", true);
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[8082] | 149 | } else {
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| 150 | connect(_nmeaServer, SIGNAL(newConnection()), this,
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| 151 | SLOT(slotNewNMEAConnection()));
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| 152 | connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
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| 153 | SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
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[7180] | 154 | _nmeaSockets = new QList<QTcpSocket*>;
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| 155 | _nmeaPortsMap[_staID] = nmeaPort;
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| 156 | }
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| 157 | } else {
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| 158 | _nmeaServer = 0;
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| 159 | _nmeaSockets = 0;
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| 160 | }
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| 161 |
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[1555] | 162 | // Serial Port
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| 163 | // -----------
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[8082] | 164 | _serialNMEA = NO_NMEA;
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[1710] | 165 | _serialOutFile = 0;
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[8082] | 166 | _serialPort = 0;
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[1710] | 167 |
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[8082] | 168 | if (!_staID.isEmpty()
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| 169 | && settings.value("serialMountPoint").toString() == _staID) {
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| 170 | _serialPort = new QextSerialPort(
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| 171 | settings.value("serialPortName").toString());
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| 172 | _serialPort->setTimeout(0, 100);
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[1710] | 173 |
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| 174 | // Baud Rate
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| 175 | // ---------
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[1330] | 176 | QString hlp = settings.value("serialBaudRate").toString();
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[8082] | 177 | if (hlp == "110") {
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[7486] | 178 | _serialPort->setBaudRate(BAUD110);
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[8082] | 179 | } else if (hlp == "300") {
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[7486] | 180 | _serialPort->setBaudRate(BAUD300);
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[8082] | 181 | } else if (hlp == "600") {
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[7486] | 182 | _serialPort->setBaudRate(BAUD600);
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[8082] | 183 | } else if (hlp == "1200") {
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[7486] | 184 | _serialPort->setBaudRate(BAUD1200);
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[8082] | 185 | } else if (hlp == "2400") {
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[7486] | 186 | _serialPort->setBaudRate(BAUD2400);
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[8082] | 187 | } else if (hlp == "4800") {
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[7486] | 188 | _serialPort->setBaudRate(BAUD4800);
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[8082] | 189 | } else if (hlp == "9600") {
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[7486] | 190 | _serialPort->setBaudRate(BAUD9600);
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[8082] | 191 | } else if (hlp == "19200") {
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[7486] | 192 | _serialPort->setBaudRate(BAUD19200);
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[8082] | 193 | } else if (hlp == "38400") {
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[7486] | 194 | _serialPort->setBaudRate(BAUD38400);
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[8082] | 195 | } else if (hlp == "57600") {
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[7486] | 196 | _serialPort->setBaudRate(BAUD57600);
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[8082] | 197 | } else if (hlp == "115200") {
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[7486] | 198 | _serialPort->setBaudRate(BAUD115200);
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[1330] | 199 | }
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[1710] | 200 |
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| 201 | // Parity
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| 202 | // ------
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[1330] | 203 | hlp = settings.value("serialParity").toString();
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[8082] | 204 | if (hlp == "NONE") {
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[7486] | 205 | _serialPort->setParity(PAR_NONE);
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[8082] | 206 | } else if (hlp == "ODD") {
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[7486] | 207 | _serialPort->setParity(PAR_ODD);
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[8082] | 208 | } else if (hlp == "EVEN") {
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[7486] | 209 | _serialPort->setParity(PAR_EVEN);
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[8082] | 210 | } else if (hlp == "SPACE") {
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[7486] | 211 | _serialPort->setParity(PAR_SPACE);
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[1330] | 212 | }
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[1710] | 213 |
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| 214 | // Data Bits
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| 215 | // ---------
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[1330] | 216 | hlp = settings.value("serialDataBits").toString();
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[8082] | 217 | if (hlp == "5") {
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[7486] | 218 | _serialPort->setDataBits(DATA_5);
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[8082] | 219 | } else if (hlp == "6") {
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[7486] | 220 | _serialPort->setDataBits(DATA_6);
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[8082] | 221 | } else if (hlp == "7") {
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[7486] | 222 | _serialPort->setDataBits(DATA_7);
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[8082] | 223 | } else if (hlp == "8") {
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[7486] | 224 | _serialPort->setDataBits(DATA_8);
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[1330] | 225 | }
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| 226 | hlp = settings.value("serialStopBits").toString();
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[8082] | 227 | if (hlp == "1") {
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[7486] | 228 | _serialPort->setStopBits(STOP_1);
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[8082] | 229 | } else if (hlp == "2") {
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[7486] | 230 | _serialPort->setStopBits(STOP_2);
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[1330] | 231 | }
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[1710] | 232 |
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| 233 | // Flow Control
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| 234 | // ------------
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| 235 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 236 | if (hlp == "XONXOFF") {
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[7486] | 237 | _serialPort->setFlowControl(FLOW_XONXOFF);
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[8082] | 238 | } else if (hlp == "HARDWARE") {
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[7486] | 239 | _serialPort->setFlowControl(FLOW_HARDWARE);
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[8082] | 240 | } else {
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[7486] | 241 | _serialPort->setFlowControl(FLOW_OFF);
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[1711] | 242 | }
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[1710] | 243 |
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| 244 | // Open Serial Port
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| 245 | // ----------------
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[8082] | 246 | _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
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[1331] | 247 | if (!_serialPort->isOpen()) {
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| 248 | delete _serialPort;
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| 249 | _serialPort = 0;
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[1451] | 250 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 251 | }
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[8082] | 252 | connect(_serialPort, SIGNAL(readyRead()), this,
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| 253 | SLOT(slotSerialReadyRead()));
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[1606] | 254 |
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[1710] | 255 | // Automatic NMEA
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| 256 | // --------------
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[6785] | 257 | QString nmeaMode = settings.value("serialAutoNMEA").toString();
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| 258 | if (nmeaMode == "Auto") {
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[1710] | 259 | _serialNMEA = AUTO_NMEA;
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| 260 | QString fName = settings.value("serialFileNMEA").toString();
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| 261 | if (!fName.isEmpty()) {
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| 262 | _serialOutFile = new QFile(fName);
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[8082] | 263 | if (Qt::CheckState(settings.value("rnxAppend").toInt())
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| 264 | == Qt::Checked) {
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[1710] | 265 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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[8082] | 266 | } else {
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[1710] | 267 | _serialOutFile->open(QIODevice::WriteOnly);
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| 268 | }
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[1634] | 269 | }
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[1606] | 270 | }
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[1710] | 271 | // Manual NMEA
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| 272 | // -----------
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[8082] | 273 | if ((nmeaMode == "Manual GPGGA") || (nmeaMode == "Manual GNGGA")) {
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[1710] | 274 | _serialNMEA = MANUAL_NMEA;
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[6751] | 275 | bncSettings settings;
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| 276 | _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
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[8082] | 277 | QString hlp = settings.value("serialHeightNMEA").toString();
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[6751] | 278 | if (hlp.isEmpty()) {
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| 279 | hlp = "0.0";
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| 280 | }
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[8127] | 281 | QByteArray _serialHeightNMEA = hlp.toLatin1();
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[8082] | 282 | _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA,
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| 283 | nmeaMode);
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[1636] | 284 | }
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[1318] | 285 | }
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| 286 |
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[3532] | 287 | if (!_staID.isEmpty()) {
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| 288 | _latencyChecker = new latencyChecker(_staID);
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[8082] | 289 | obs = false;
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| 290 | ssrOrb = false;
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| 291 | ssrClk = false;
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| 292 | ssrOrbClk = false;
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| 293 | ssrCbi = false;
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| 294 | ssrPbi = false;
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| 295 | ssrVtec = false;
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| 296 | ssrUra = false;
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| 297 | ssrHr = false;
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| 298 | _oldSsrEpoch = 0;
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| 299 | _ssrEpoch = 0;
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| 300 | } else {
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[3532] | 301 | _latencyChecker = 0;
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| 302 | }
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[3523] | 303 | }
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| 304 |
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| 305 | // Instantiate the decoder
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| 306 | //////////////////////////////////////////////////////////////////////////////
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| 307 | t_irc bncGetThread::initDecoder() {
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| 308 |
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[3560] | 309 | _decoder = 0;
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| 310 |
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[8082] | 311 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1
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| 312 | || _format.indexOf("RTCM 2") != -1) {
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[1555] | 313 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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[3560] | 314 | _decoder = new RTCM2Decoder(_staID.data());
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[8082] | 315 | } else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1
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| 316 | || _format.indexOf("RTCM 3") != -1) {
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[1555] | 317 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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[3558] | 318 | RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
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[3560] | 319 | _decoder = newDecoder;
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[7486] | 320 | connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
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[8082] | 321 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 322 | } else if (_format.indexOf("ZERO") != -1) {
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[1555] | 323 | emit(newMessage(_staID + ": Get data in original format", true));
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[3560] | 324 | _decoder = new bncZeroDecoder(_staID);
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[8082] | 325 | } else if (_format.indexOf("RTNET") != -1) {
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[3168] | 326 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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[3560] | 327 | _decoder = new bncRtnetDecoder();
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[8082] | 328 | } else {
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[1555] | 329 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 330 | _isToBeDeleted = true;
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[3523] | 331 | return failure;
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[1555] | 332 | }
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| 333 |
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[319] | 334 | msleep(100); //sleep 0.1 sec
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[7486] | 335 |
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[8082] | 336 | _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
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| 337 | _ntripVersion);
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[3560] | 338 |
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| 339 | if (_rawFile) {
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| 340 | _decodersRaw[_staID] = _decoder;
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[3530] | 341 | }
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| 342 |
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[3523] | 343 | return success;
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[35] | 344 | }
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| 345 |
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[3523] | 346 | // Current decoder in use
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| 347 | ////////////////////////////////////////////////////////////////////////////
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| 348 | GPSDecoder* bncGetThread::decoder() {
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[3560] | 349 | if (!_rawFile) {
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| 350 | return _decoder;
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[8082] | 351 | } else {
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[3560] | 352 | if (_decodersRaw.contains(_staID) || initDecoder() == success) {
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| 353 | return _decodersRaw[_staID];
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| 354 | }
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[3523] | 355 | }
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[3560] | 356 | return 0;
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[3523] | 357 | }
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| 358 |
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[35] | 359 | // Destructor
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| 360 | ////////////////////////////////////////////////////////////////////////////
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| 361 | bncGetThread::~bncGetThread() {
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[1928] | 362 | if (isRunning()) {
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| 363 | wait();
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| 364 | }
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[1527] | 365 | if (_query) {
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| 366 | _query->stop();
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[1708] | 367 | _query->deleteLater();
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[1527] | 368 | }
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[3560] | 369 | if (_rawFile) {
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| 370 | QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
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| 371 | while (it.hasNext()) {
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| 372 | it.next();
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| 373 | delete it.value();
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| 374 | }
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[8082] | 375 | } else {
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[3560] | 376 | delete _decoder;
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| 377 | }
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[2519] | 378 | delete _rawFile;
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[1607] | 379 | delete _serialOutFile;
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[1328] | 380 | delete _serialPort;
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[1557] | 381 | delete _latencyChecker;
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[1556] | 382 | emit getThreadFinished(_staID);
|
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[35] | 383 | }
|
---|
| 384 |
|
---|
[7486] | 385 | //
|
---|
[1390] | 386 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 387 | void bncGetThread::terminate() {
|
---|
[1525] | 388 | _isToBeDeleted = true;
|
---|
[7854] | 389 |
|
---|
[8082] | 390 | if (_nmeaPortsMap.contains(_staID)) {
|
---|
[7854] | 391 | _nmeaPortsMap.remove(_staID);
|
---|
[1559] | 392 | }
|
---|
[7854] | 393 | if (_nmeaServer) {
|
---|
| 394 | delete _nmeaServer;
|
---|
| 395 | }
|
---|
| 396 | if (_nmeaSockets) {
|
---|
| 397 | delete _nmeaSockets;
|
---|
| 398 | }
|
---|
[7858] | 399 |
|
---|
| 400 | #ifdef BNC_DEBUG
|
---|
[7859] | 401 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
---|
[8082] | 402 | while (!isFinished()) {
|
---|
| 403 | wait();
|
---|
| 404 | }
|
---|
[7859] | 405 | delete this;
|
---|
[8082] | 406 | } else {
|
---|
| 407 | if (!isRunning()) {
|
---|
| 408 | delete this;
|
---|
| 409 | }
|
---|
[7858] | 410 | }
|
---|
| 411 | #else
|
---|
[8082] | 412 | if (!isRunning()) {delete this;}
|
---|
[7858] | 413 | #endif
|
---|
| 414 |
|
---|
[1390] | 415 | }
|
---|
| 416 |
|
---|
[136] | 417 | // Run
|
---|
| 418 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 419 | void bncGetThread::run() {
|
---|
| 420 |
|
---|
[35] | 421 | while (true) {
|
---|
[629] | 422 | try {
|
---|
[1555] | 423 | if (_isToBeDeleted) {
|
---|
| 424 | QThread::exit(0);
|
---|
| 425 | this->deleteLater();
|
---|
| 426 | return;
|
---|
[629] | 427 | }
|
---|
[621] | 428 |
|
---|
[1555] | 429 | if (tryReconnect() != success) {
|
---|
[3532] | 430 | if (_latencyChecker) {
|
---|
| 431 | _latencyChecker->checkReconnect();
|
---|
| 432 | }
|
---|
[1555] | 433 | continue;
|
---|
[621] | 434 | }
|
---|
[1555] | 435 |
|
---|
| 436 | // Delete old observations
|
---|
| 437 | // -----------------------
|
---|
[3560] | 438 | if (_rawFile) {
|
---|
| 439 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 440 | while (itDec.hasNext()) {
|
---|
| 441 | itDec.next();
|
---|
| 442 | GPSDecoder* decoder = itDec.value();
|
---|
| 443 | decoder->_obsList.clear();
|
---|
| 444 | }
|
---|
[8082] | 445 | } else {
|
---|
[3560] | 446 | _decoder->_obsList.clear();
|
---|
| 447 | }
|
---|
[621] | 448 |
|
---|
[1555] | 449 | // Read Data
|
---|
| 450 | // ---------
|
---|
[1377] | 451 | QByteArray data;
|
---|
[8082] | 452 | if (_query) {
|
---|
[1377] | 453 | _query->waitForReadyRead(data);
|
---|
[8082] | 454 | } else if (_rawFile) {
|
---|
[2527] | 455 | data = _rawFile->readChunk();
|
---|
[3523] | 456 | _format = _rawFile->format();
|
---|
[8082] | 457 | _staID = _rawFile->staID();
|
---|
[2388] | 458 |
|
---|
[5903] | 459 | QCoreApplication::processEvents();
|
---|
| 460 |
|
---|
[7976] | 461 | if (data.isEmpty() || BNC_CORE->sigintReceived) {
|
---|
| 462 | cout << "no more data or Ctrl-C received" << endl;
|
---|
[5068] | 463 | BNC_CORE->stopCombination();
|
---|
[5900] | 464 | BNC_CORE->stopPPP();
|
---|
[5903] | 465 | ::exit(0);
|
---|
[1555] | 466 | }
|
---|
[1138] | 467 | }
|
---|
[8123] | 468 |
|
---|
[1555] | 469 | qint64 nBytes = data.size();
|
---|
[1138] | 470 |
|
---|
[1555] | 471 | // Timeout, reconnect
|
---|
| 472 | // ------------------
|
---|
| 473 | if (nBytes == 0) {
|
---|
[3532] | 474 | if (_latencyChecker) {
|
---|
| 475 | _latencyChecker->checkReconnect();
|
---|
| 476 | }
|
---|
[1555] | 477 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[2355] | 478 | msleep(10000); //sleep 10 sec, G. Weber
|
---|
[1555] | 479 | continue;
|
---|
[8082] | 480 | } else {
|
---|
[567] | 481 | emit newBytes(_staID, nBytes);
|
---|
[5648] | 482 | emit newRawData(_staID, data);
|
---|
[1555] | 483 | }
|
---|
[567] | 484 |
|
---|
[1555] | 485 | // Output Data
|
---|
| 486 | // -----------
|
---|
[2386] | 487 | if (_rawOutput) {
|
---|
[7486] | 488 | BNC_CORE->writeRawData(data, _staID, _format);
|
---|
[2386] | 489 | }
|
---|
[2385] | 490 |
|
---|
[1555] | 491 | if (_serialPort) {
|
---|
[1633] | 492 | slotSerialReadyRead();
|
---|
[1555] | 493 | _serialPort->write(data);
|
---|
| 494 | }
|
---|
[7486] | 495 |
|
---|
[1555] | 496 | // Decode Data
|
---|
| 497 | // -----------
|
---|
| 498 | vector<string> errmsg;
|
---|
[3526] | 499 | if (!decoder()) {
|
---|
| 500 | _isToBeDeleted = true;
|
---|
| 501 | continue;
|
---|
| 502 | }
|
---|
[7753] | 503 |
|
---|
[3523] | 504 | t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 505 |
|
---|
[7753] | 506 | if (irc != success) {
|
---|
| 507 | continue;
|
---|
| 508 | }
|
---|
[1555] | 509 | // Perform various scans and checks
|
---|
| 510 | // --------------------------------
|
---|
[3532] | 511 | if (_latencyChecker) {
|
---|
| 512 | _latencyChecker->checkOutage(irc == success);
|
---|
[8082] | 513 | QListIterator<int> it(decoder()->_typeList);
|
---|
| 514 | _ssrEpoch = decoder()->corrGPSEpochTime();
|
---|
[8246] | 515 | if (_oldSsrEpoch && _ssrEpoch && _ssrEpoch != _oldSsrEpoch) {
|
---|
[8082] | 516 | if (ssrOrb) {
|
---|
| 517 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1057);
|
---|
| 518 | ssrOrb = false;
|
---|
| 519 | }
|
---|
| 520 | if (ssrClk) {
|
---|
| 521 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1058);
|
---|
| 522 | ssrClk = false;
|
---|
| 523 | }
|
---|
| 524 | if (ssrOrbClk) {
|
---|
| 525 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1060);
|
---|
| 526 | ssrOrbClk = false;
|
---|
| 527 | }
|
---|
| 528 | if (ssrCbi) {
|
---|
| 529 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1059);
|
---|
| 530 | ssrCbi = false;
|
---|
| 531 | }
|
---|
| 532 | if (ssrPbi) {
|
---|
| 533 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1265);
|
---|
| 534 | ssrPbi = false;
|
---|
| 535 | }
|
---|
| 536 | if (ssrVtec) {
|
---|
| 537 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1264);
|
---|
| 538 | ssrVtec = false;
|
---|
| 539 | }
|
---|
| 540 | if (ssrUra) {
|
---|
| 541 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1061);
|
---|
| 542 | ssrUra = false;
|
---|
| 543 | }
|
---|
| 544 | if (ssrHr) {
|
---|
| 545 | _latencyChecker->checkCorrLatency(_oldSsrEpoch, 1062);
|
---|
| 546 | ssrHr = false;
|
---|
| 547 | }
|
---|
| 548 | }
|
---|
| 549 | while (it.hasNext()) {
|
---|
| 550 | int rtcmType = it.next();
|
---|
| 551 | if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
|
---|
| 552 | (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
|
---|
| 553 | (rtcmType >= 1071 && rtcmType <= 1127)) { // MSM RTCM OBS
|
---|
| 554 | obs = true;
|
---|
| 555 | } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
|
---|
| 556 | (rtcmType >= 1240 && rtcmType <= 1270)) {
|
---|
| 557 | switch (rtcmType) {
|
---|
| 558 | case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
|
---|
| 559 | ssrOrb = true;
|
---|
| 560 | break;
|
---|
| 561 | case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
|
---|
| 562 | ssrClk = true;
|
---|
| 563 | break;
|
---|
| 564 | case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
|
---|
| 565 | ssrOrbClk = true;
|
---|
| 566 | break;
|
---|
| 567 | case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
|
---|
| 568 | ssrCbi = true;
|
---|
| 569 | break;
|
---|
| 570 | case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
|
---|
| 571 | ssrPbi = true;
|
---|
| 572 | break;
|
---|
| 573 | case 1264:
|
---|
| 574 | ssrVtec = true;
|
---|
| 575 | break;
|
---|
| 576 | case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
|
---|
| 577 | ssrUra = true;
|
---|
| 578 | break;
|
---|
| 579 | case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
|
---|
| 580 | ssrHr = true;
|
---|
| 581 | break;
|
---|
| 582 | }
|
---|
| 583 | }
|
---|
| 584 | }
|
---|
| 585 | if (obs) {
|
---|
| 586 | _latencyChecker->checkObsLatency(decoder()->_obsList);
|
---|
| 587 | }
|
---|
| 588 | _oldSsrEpoch = _ssrEpoch;
|
---|
[3532] | 589 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
| 590 | }
|
---|
[7753] | 591 | miscScanRTCM();
|
---|
[1138] | 592 |
|
---|
[1555] | 593 | // Loop over all observations (observations output)
|
---|
| 594 | // ------------------------------------------------
|
---|
[6137] | 595 | QListIterator<t_satObs> it(decoder()->_obsList);
|
---|
[5524] | 596 |
|
---|
[6137] | 597 | QList<t_satObs> obsListHlp;
|
---|
[5524] | 598 |
|
---|
[1555] | 599 | while (it.hasNext()) {
|
---|
[6137] | 600 | const t_satObs& obs = it.next();
|
---|
[2711] | 601 |
|
---|
[1555] | 602 | // Check observation epoch
|
---|
| 603 | // -----------------------
|
---|
[5739] | 604 | if (!_rawFile) {
|
---|
[8011] | 605 | bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
|
---|
| 606 | if (wrongObservationEpoch) {
|
---|
[8021] | 607 | QString prn(obs._prn.toString().c_str());
|
---|
[8082] | 608 | emit(newMessage(
|
---|
[8127] | 609 | _staID + " (" + prn.toLatin1() + ")"
|
---|
[8082] | 610 | + ": Wrong observation epoch(s)", false));
|
---|
[1555] | 611 | continue;
|
---|
[940] | 612 | }
|
---|
[686] | 613 | }
|
---|
[6812] | 614 |
|
---|
[3305] | 615 | // Check observations coming twice (e.g. KOUR0 Problem)
|
---|
| 616 | // ----------------------------------------------------
|
---|
[3535] | 617 | if (!_rawFile) {
|
---|
[8011] | 618 | QString prn(obs._prn.toString().c_str());
|
---|
[8082] | 619 | long iSec = long(floor(obs._time.gpssec() + 0.5));
|
---|
| 620 | long obsTime = obs._time.gpsw() * 7 * 24 * 3600 + iSec;
|
---|
[3535] | 621 | QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
|
---|
| 622 | if (it != _prnLastEpo.end()) {
|
---|
| 623 | long oldTime = it.value();
|
---|
[8082] | 624 | if (obsTime < oldTime) {
|
---|
[8127] | 625 | emit(newMessage(_staID + ": old observation " + prn.toLatin1(),
|
---|
[8082] | 626 | false));
|
---|
[3535] | 627 | continue;
|
---|
[8082] | 628 | } else if (obsTime == oldTime) {
|
---|
| 629 | emit(newMessage(
|
---|
| 630 | _staID + ": observation coming more than once "
|
---|
[8127] | 631 | + prn.toLatin1(), false));
|
---|
[3535] | 632 | continue;
|
---|
| 633 | }
|
---|
[3302] | 634 | }
|
---|
[3535] | 635 | _prnLastEpo[prn] = obsTime;
|
---|
[3301] | 636 | }
|
---|
| 637 |
|
---|
[3528] | 638 | decoder()->dumpRinexEpoch(obs, _format);
|
---|
| 639 |
|
---|
[5524] | 640 | // Save observations
|
---|
| 641 | // -----------------
|
---|
| 642 | obsListHlp.append(obs);
|
---|
| 643 | }
|
---|
[2030] | 644 |
|
---|
[5524] | 645 | // Emit signal
|
---|
| 646 | // -----------
|
---|
| 647 | if (!_isToBeDeleted && obsListHlp.size() > 0) {
|
---|
| 648 | emit newObs(_staID, obsListHlp);
|
---|
[249] | 649 | }
|
---|
[5524] | 650 |
|
---|
[8082] | 651 | } catch (Exception& exc) {
|
---|
[3311] | 652 | emit(newMessage(_staID + " " + exc.what(), true));
|
---|
| 653 | _isToBeDeleted = true;
|
---|
[8082] | 654 | } catch (...) {
|
---|
[3311] | 655 | emit(newMessage(_staID + " bncGetThread exception", true));
|
---|
[1559] | 656 | _isToBeDeleted = true;
|
---|
[1555] | 657 | }
|
---|
[35] | 658 | }
|
---|
| 659 | }
|
---|
| 660 |
|
---|
[7486] | 661 | // Try Re-Connect
|
---|
[136] | 662 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 663 | t_irc bncGetThread::tryReconnect() {
|
---|
| 664 |
|
---|
| 665 | // Easy Return
|
---|
| 666 | // -----------
|
---|
| 667 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 668 | _nextSleep = 0;
|
---|
[3560] | 669 | if (_rawFile) {
|
---|
| 670 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 671 | while (itDec.hasNext()) {
|
---|
| 672 | itDec.next();
|
---|
| 673 | GPSDecoder* decoder = itDec.value();
|
---|
| 674 | decoder->setRinexReconnectFlag(false);
|
---|
| 675 | }
|
---|
[8082] | 676 | } else {
|
---|
[3560] | 677 | _decoder->setRinexReconnectFlag(false);
|
---|
| 678 | }
|
---|
[1555] | 679 | return success;
|
---|
[408] | 680 | }
|
---|
[1555] | 681 |
|
---|
| 682 | // Start a new query
|
---|
| 683 | // -----------------
|
---|
[2519] | 684 | if (!_rawFile) {
|
---|
[1555] | 685 |
|
---|
[138] | 686 | sleep(_nextSleep);
|
---|
[1555] | 687 | if (_nextSleep == 0) {
|
---|
| 688 | _nextSleep = 1;
|
---|
[8082] | 689 | } else {
|
---|
[1555] | 690 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 691 | if (_nextSleep > 256) {
|
---|
| 692 | _nextSleep = 256;
|
---|
[152] | 693 | }
|
---|
[1816] | 694 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 695 | if (_nextSleep > 4) {
|
---|
| 696 | _nextSleep = 4;
|
---|
[1816] | 697 | }
|
---|
| 698 | #endif
|
---|
[138] | 699 | }
|
---|
[8123] | 700 | delete _query;
|
---|
[8082] | 701 | if (_ntripVersion == "U") {
|
---|
[1721] | 702 | _query = new bncNetQueryUdp();
|
---|
[8082] | 703 | } else if (_ntripVersion == "R") {
|
---|
[1555] | 704 | _query = new bncNetQueryRtp();
|
---|
[8082] | 705 | } else if (_ntripVersion == "S") {
|
---|
[1753] | 706 | _query = new bncNetQueryS();
|
---|
[8082] | 707 | } else if (_ntripVersion == "N") {
|
---|
[1621] | 708 | _query = new bncNetQueryV0();
|
---|
[8082] | 709 | } else if (_ntripVersion == "UN") {
|
---|
[1779] | 710 | _query = new bncNetQueryUdp0();
|
---|
[8082] | 711 | } else if (_ntripVersion == "2") {
|
---|
[3337] | 712 | _query = new bncNetQueryV2(false);
|
---|
[8082] | 713 | } else if (_ntripVersion == "2s") {
|
---|
[3337] | 714 | _query = new bncNetQueryV2(true);
|
---|
[8082] | 715 | } else {
|
---|
[1555] | 716 | _query = new bncNetQueryV1();
|
---|
| 717 | }
|
---|
[6770] | 718 | if (_nmea == "yes") {
|
---|
| 719 | if (_serialNMEA == MANUAL_NMEA) {
|
---|
| 720 | _query->startRequest(_mountPoint, _manualNMEAString);
|
---|
| 721 | _lastManualNMEA = QDateTime::currentDateTime();
|
---|
[8082] | 722 | } else if (_serialNMEA == AUTO_NMEA) {
|
---|
[6770] | 723 | if (_serialPort) {
|
---|
| 724 | int nb = _serialPort->bytesAvailable();
|
---|
| 725 | if (nb > 0) {
|
---|
| 726 | QByteArray data = _serialPort->read(nb);
|
---|
| 727 | int i1 = data.indexOf("$GPGGA");
|
---|
| 728 | if (i1 == -1) {
|
---|
| 729 | i1 = data.indexOf("$GNGGA");
|
---|
| 730 | }
|
---|
| 731 | if (i1 != -1) {
|
---|
| 732 | int i2 = data.indexOf("*", i1);
|
---|
| 733 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 734 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
---|
| 735 | _query->startRequest(_mountPoint, gga);
|
---|
| 736 | }
|
---|
| 737 | }
|
---|
| 738 | }
|
---|
| 739 | }
|
---|
| 740 | }
|
---|
[8082] | 741 | } else {
|
---|
[1555] | 742 | _query->startRequest(_mountPoint, "");
|
---|
| 743 | }
|
---|
[6770] | 744 |
|
---|
[1555] | 745 | if (_query->status() != bncNetQuery::running) {
|
---|
| 746 | return failure;
|
---|
| 747 | }
|
---|
[138] | 748 | }
|
---|
[658] | 749 |
|
---|
[3560] | 750 | if (_rawFile) {
|
---|
| 751 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 752 | while (itDec.hasNext()) {
|
---|
| 753 | itDec.next();
|
---|
| 754 | GPSDecoder* decoder = itDec.value();
|
---|
| 755 | decoder->setRinexReconnectFlag(false);
|
---|
| 756 | }
|
---|
[8082] | 757 | } else {
|
---|
| 758 | _decoder->setRinexReconnectFlag(false);
|
---|
[658] | 759 | }
|
---|
[1555] | 760 |
|
---|
| 761 | return success;
|
---|
[658] | 762 | }
|
---|
[1044] | 763 |
|
---|
[1555] | 764 | // RTCM scan output
|
---|
[1044] | 765 | //////////////////////////////////////////////////////////////////////////////
|
---|
[7423] | 766 | void bncGetThread::miscScanRTCM() {
|
---|
[1044] | 767 |
|
---|
[8082] | 768 | if (!decoder()) {
|
---|
[3558] | 769 | return;
|
---|
| 770 | }
|
---|
| 771 |
|
---|
[1555] | 772 | bncSettings settings;
|
---|
[8082] | 773 | if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
|
---|
[1574] | 774 |
|
---|
[8082] | 775 | if (_miscMount == _staID || _miscMount == "ALL") {
|
---|
[1575] | 776 | // RTCM message types
|
---|
| 777 | // ------------------
|
---|
[4476] | 778 | for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
|
---|
[8082] | 779 | QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
|
---|
[8127] | 780 | emit(newMessage(_staID + ": Received message type " + type.toLatin1(),
|
---|
[8082] | 781 | true));
|
---|
[1574] | 782 | }
|
---|
[7486] | 783 |
|
---|
[4476] | 784 | // Check Observation Types
|
---|
| 785 | // -----------------------
|
---|
| 786 | for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
|
---|
[6137] | 787 | t_satObs& obs = decoder()->_obsList[ii];
|
---|
| 788 | QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
|
---|
[4476] | 789 | bool allFound = true;
|
---|
[6137] | 790 | for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
|
---|
[6579] | 791 | if (obs._obs[iFrq]->_codeValid) {
|
---|
| 792 | QString rnxStr('C');
|
---|
| 793 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[8082] | 794 | if (_format.indexOf("RTCM_2") != -1
|
---|
| 795 | || _format.indexOf("RTCM2") != -1
|
---|
| 796 | || _format.indexOf("RTCM 2") != -1) {
|
---|
[6580] | 797 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 798 | }
|
---|
[6579] | 799 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 800 | rnxTypes.push_back(rnxStr);
|
---|
| 801 | allFound = false;
|
---|
| 802 | }
|
---|
[4476] | 803 | }
|
---|
[6579] | 804 | if (obs._obs[iFrq]->_phaseValid) {
|
---|
| 805 | QString rnxStr('L');
|
---|
| 806 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[8082] | 807 | if (_format.indexOf("RTCM_2") != -1
|
---|
| 808 | || _format.indexOf("RTCM2") != -1
|
---|
| 809 | || _format.indexOf("RTCM 2") != -1) {
|
---|
[6580] | 810 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 811 | }
|
---|
[6579] | 812 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 813 | rnxTypes.push_back(rnxStr);
|
---|
| 814 | allFound = false;
|
---|
| 815 | }
|
---|
| 816 | }
|
---|
[8082] | 817 | if (obs._obs[iFrq]->_dopplerValid) {
|
---|
[6579] | 818 | QString rnxStr('D');
|
---|
| 819 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[8082] | 820 | if (_format.indexOf("RTCM_2") != -1
|
---|
| 821 | || _format.indexOf("RTCM2") != -1
|
---|
| 822 | || _format.indexOf("RTCM 2") != -1) {
|
---|
[6580] | 823 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 824 | }
|
---|
[6579] | 825 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 826 | rnxTypes.push_back(rnxStr);
|
---|
| 827 | allFound = false;
|
---|
| 828 | }
|
---|
| 829 | }
|
---|
[8082] | 830 | if (obs._obs[iFrq]->_snrValid) {
|
---|
[6579] | 831 | QString rnxStr('S');
|
---|
| 832 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
---|
[8082] | 833 | if (_format.indexOf("RTCM_2") != -1
|
---|
| 834 | || _format.indexOf("RTCM2") != -1
|
---|
| 835 | || _format.indexOf("RTCM 2") != -1) {
|
---|
[6580] | 836 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
---|
| 837 | }
|
---|
[6579] | 838 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
---|
| 839 | rnxTypes.push_back(rnxStr);
|
---|
| 840 | allFound = false;
|
---|
| 841 | }
|
---|
| 842 | }
|
---|
[4476] | 843 | }
|
---|
| 844 | if (!allFound) {
|
---|
[7486] | 845 | QString msg;
|
---|
[4477] | 846 | QTextStream str(&msg);
|
---|
[6579] | 847 | QString s;
|
---|
[8082] | 848 | str << obs._prn.system() << " "
|
---|
| 849 | << s.sprintf("%2d", rnxTypes.size()) << " ";
|
---|
[4476] | 850 | for (int iType = 0; iType < rnxTypes.size(); iType++) {
|
---|
[4478] | 851 | str << " " << rnxTypes[iType];
|
---|
[4476] | 852 | }
|
---|
[8127] | 853 | emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
|
---|
[8082] | 854 | true));
|
---|
[4476] | 855 | }
|
---|
| 856 | }
|
---|
| 857 |
|
---|
[1574] | 858 | // RTCMv3 antenna descriptor
|
---|
| 859 | // -------------------------
|
---|
[4476] | 860 | for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
|
---|
[8236] | 861 | QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii].descriptor);
|
---|
| 862 | emit(newMessage(_staID + ant1.toLatin1(), true));
|
---|
| 863 | if (strlen(decoder()->_antType[ii].serialnumber)) {
|
---|
| 864 | QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii].serialnumber);
|
---|
| 865 | emit(newMessage(_staID + ant2.toLatin1(), true));
|
---|
| 866 | }
|
---|
[1574] | 867 | }
|
---|
[1555] | 868 |
|
---|
[1575] | 869 | // RTCM Antenna Coordinates
|
---|
| 870 | // ------------------------
|
---|
[8082] | 871 | for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
|
---|
[1574] | 872 | QByteArray antT;
|
---|
[8236] | 873 | if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::ARP) {
|
---|
[1574] | 874 | antT = "ARP";
|
---|
[8236] | 875 | } else if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::APC) {
|
---|
[1574] | 876 | antT = "APC";
|
---|
| 877 | }
|
---|
[1575] | 878 | QByteArray ant1, ant2, ant3;
|
---|
[8236] | 879 | ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
|
---|
| 880 | ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
|
---|
| 881 | ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
|
---|
[1575] | 882 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 883 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 884 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
[3595] | 885 | double hh = 0.0;
|
---|
[3523] | 886 | if (decoder()->_antList[ii].height_f) {
|
---|
[3595] | 887 | hh = decoder()->_antList[ii].height;
|
---|
[8127] | 888 | QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
|
---|
[8082] | 889 | emit(newMessage(
|
---|
| 890 | _staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
[1575] | 891 | }
|
---|
[7486] | 892 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
[8082] | 893 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
|
---|
[1218] | 894 | }
|
---|
[6864] | 895 |
|
---|
[8197] | 896 | // RTCMv3 receiver descriptor
|
---|
| 897 | // --------------------------
|
---|
| 898 | for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
|
---|
[8236] | 899 | QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii].descriptor);
|
---|
| 900 | QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii].firmware);
|
---|
| 901 | QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii].serialnumber);
|
---|
| 902 | emit(newMessage(_staID + rec1.toLatin1(), true));
|
---|
| 903 | emit(newMessage(_staID + rec2.toLatin1(), true));
|
---|
| 904 | emit(newMessage(_staID + rec3.toLatin1(), true));
|
---|
[8197] | 905 | }
|
---|
| 906 |
|
---|
[6864] | 907 | // RTCM GLONASS slots
|
---|
| 908 | // ------------------
|
---|
| 909 | if (decoder()->_gloFrq.size()) {
|
---|
| 910 | bool allFound = true;
|
---|
| 911 | QString slot = decoder()->_gloFrq;
|
---|
[8082] | 912 | slot.replace(" ", " ").replace(" ", ":");
|
---|
[6864] | 913 | if (_gloSlots.indexOf(slot) == -1) {
|
---|
| 914 | _gloSlots.append(slot);
|
---|
| 915 | allFound = false;
|
---|
| 916 | }
|
---|
| 917 | if (!allFound) {
|
---|
| 918 | _gloSlots.sort();
|
---|
[8082] | 919 | emit(newMessage(
|
---|
[8127] | 920 | _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
|
---|
[8082] | 921 | true));
|
---|
[6864] | 922 | }
|
---|
| 923 | }
|
---|
[1218] | 924 | }
|
---|
[1044] | 925 | }
|
---|
[1575] | 926 |
|
---|
[1770] | 927 | #ifdef MLS_SOFTWARE
|
---|
[3523] | 928 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
---|
[8082] | 929 | QByteArray antT;
|
---|
| 930 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
| 931 | antT = "ARP";
|
---|
| 932 | }
|
---|
| 933 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
| 934 | antT = "APC";
|
---|
| 935 | }
|
---|
| 936 | double hh = 0.0;
|
---|
| 937 | if (decoder()->_antList[ii].height_f) {
|
---|
| 938 | hh = decoder()->_antList[ii].height;
|
---|
| 939 | }
|
---|
| 940 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 941 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
| 942 | hh, antT));
|
---|
[1770] | 943 | }
|
---|
[2356] | 944 |
|
---|
[3523] | 945 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
---|
| 946 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
|
---|
[2356] | 947 | }
|
---|
[1770] | 948 | #endif
|
---|
| 949 |
|
---|
[6864] | 950 | decoder()->_gloFrq.clear();
|
---|
[3523] | 951 | decoder()->_typeList.clear();
|
---|
| 952 | decoder()->_antType.clear();
|
---|
[8197] | 953 | decoder()->_recType.clear();
|
---|
[3523] | 954 | decoder()->_antList.clear();
|
---|
[1044] | 955 | }
|
---|
[1555] | 956 |
|
---|
[1606] | 957 | // Handle Data from Serial Port
|
---|
| 958 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 959 | void bncGetThread::slotSerialReadyRead() {
|
---|
[6770] | 960 |
|
---|
[1607] | 961 | if (_serialPort) {
|
---|
[6770] | 962 |
|
---|
[6773] | 963 | if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
|
---|
| 964 | if (_manualNMEASampl) {
|
---|
| 965 | int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
|
---|
| 966 | if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
|
---|
| 967 | _query->sendNMEA(_manualNMEAString);
|
---|
| 968 | _lastManualNMEA = QDateTime::currentDateTime();
|
---|
| 969 | }
|
---|
| 970 | }
|
---|
| 971 | }
|
---|
| 972 |
|
---|
[1633] | 973 | int nb = _serialPort->bytesAvailable();
|
---|
| 974 | if (nb > 0) {
|
---|
| 975 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 976 |
|
---|
[6695] | 977 | if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 978 | int i1 = data.indexOf("$GPGGA");
|
---|
[6651] | 979 | if (i1 == -1) {
|
---|
| 980 | i1 = data.indexOf("$GNGGA");
|
---|
| 981 | }
|
---|
[1725] | 982 | if (i1 != -1) {
|
---|
[6751] | 983 | int i2 = data.indexOf("*", i1);
|
---|
[1725] | 984 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
[6751] | 985 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
---|
[1725] | 986 | _query->sendNMEA(gga);
|
---|
[6751] | 987 | }
|
---|
| 988 | }
|
---|
[1711] | 989 | }
|
---|
| 990 |
|
---|
[1633] | 991 | if (_serialOutFile) {
|
---|
| 992 | _serialOutFile->write(data);
|
---|
| 993 | _serialOutFile->flush();
|
---|
| 994 | }
|
---|
[1607] | 995 | }
|
---|
| 996 | }
|
---|
[1606] | 997 | }
|
---|
[7180] | 998 |
|
---|
| 999 | void bncGetThread::slotNewNMEAConnection() {
|
---|
| 1000 | _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
|
---|
[8082] | 1001 | emit(newMessage(
|
---|
[8127] | 1002 | QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
|
---|
[8082] | 1003 | true));
|
---|
[7180] | 1004 | }
|
---|
| 1005 |
|
---|
| 1006 | //
|
---|
| 1007 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 1008 | void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
|
---|
| 1009 | if (_nmeaPortsMap.contains(staID)) {
|
---|
| 1010 | int nmeaPort = _nmeaPortsMap.value(staID);
|
---|
| 1011 | QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
|
---|
| 1012 | while (is.hasNext()) {
|
---|
| 1013 | QTcpSocket* sock = is.next();
|
---|
| 1014 | if (sock->localPort() == nmeaPort) {
|
---|
| 1015 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 1016 | sock->write(str);
|
---|
[8082] | 1017 | } else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
[7180] | 1018 | delete sock;
|
---|
| 1019 | is.remove();
|
---|
| 1020 | }
|
---|
| 1021 | }
|
---|
| 1022 | }
|
---|
| 1023 | }
|
---|
| 1024 | }
|
---|